#include "control_task.h"
#include "motor_task.h"
#include "jy901.h"


#include "main.h"
#include "lcd_key_led.h"
#include "stdio.h"
#include "step_motor_usart.h"

#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"


#if INCLUDE_uxTaskGetStackHighWaterMark
uint32_t ControlTaskStack;
#endif

static fp32 pixel_control_back;
const pi_reveive_data * pi_data;

void control_task(void *pvParameters)
{
	
	pi_data = get_pi_data_point();   //获取当前树莓派回传信息  30HZ
	
	while(1) 
	{
		
		
		
		
		
		
		
		
		
		
		
		
		
		
		
		
		
		
		
		
		
		vTaskDelay(UART_SPEED);
		
#if INCLUDE_uxTaskGetStackHighWaterMark
        ControlTaskStack = uxTaskGetStackHighWaterMark(NULL);
#endif
    }
}



const fp32 * get_pixel_control_data(void)
{
	return &pixel_control_back;
}

